Yuval Tassa
05f3e914b0
PiperOrigin-RevId: 742583729 Change-Id: I18d1c95a91f4d70b842c680d4a0f4d0b04476894
44 lines
1.5 KiB
XML
44 lines
1.5 KiB
XML
<mujoco>
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<visual>
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<global elevation="-20"/>
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<headlight ambient=".3 .3 .3" diffuse=".9 .9 .9"/>
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</visual>
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<default>
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<geom rgba="0.8 0.6 .4 1"/>
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</default>
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<worldbody>
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<body name="link1">
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<!-- inertia of link1 is 1.0 -->
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<joint name="link1" axis="0 -1 0"/>
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<geom type="capsule" size=".02" fromto="0 0 0 1 0 0" mass="0"/>
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<geom type="sphere" size=".1" mass="1" pos="1 0 0"/>
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</body>
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<body name="motor1">
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<!-- inertia of motor1 is 1/12 * m * (0.2^2 + 0.2^2) = 0.2
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see https://en.wikipedia.org/wiki/List_of_moments_of_inertia -->
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<joint name="motor1" axis="0 -1 0"/>
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<geom type="box" size=".1 .1 .1" mass="30" contype="0" conaffinity="0" rgba=".6 .4 .8 1"/>
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</body>
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<body name="link2" pos="1.5 0 0">
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<!-- armature from reflected inertia of motor1 is 0.2 * 3^2 = 1.8 -->
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<joint name="link2" armature="1.8" axis="0 -1 0"/>
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<geom type="capsule" size=".02" fromto="0 0 0 1 0 0" mass="0"/>
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<geom type="sphere" size=".1" mass="1" pos="1 0 0"/>
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</body>
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</worldbody>
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<equality>
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<!-- gear ratio between motor1 and link1 is 3:1 -->
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<joint joint1="motor1" joint2="link1" polycoef="0 3"/>
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</equality>
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<actuator>
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<position name="link1" joint="motor1" kp=".3" ctrlrange="-5 5"/>
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<!-- actuators are made equivalent by setting link2 gear to link1 gear ratio -->
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<position name="link2" joint="link2" kp=".3" ctrlrange="-5 5" gear="3"/>
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</actuator>
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</mujoco>
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